四轮独立驱动高地隙无人喷雾机轨迹跟踪自适应控制  

Adaptive Trajectory Tracking Control of 4WID High Clearance Unmanned Sprayer

作　　者：景亮[1] 张亚飞 沈跃[1] 何思伟 刘慧[1] 崔业民 JING Liang;ZHANG Yafei;SHEN Yue;HE Siwei;LIU Hui;CUI Yemin(School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China;Nantong Guangyi Mechanical and Electrical Co.,Ltd.,Nantong 226631,China)

机构地区：[1]江苏大学电气信息工程学院,镇江212013 [2]南通广益机电有限责任公司,南通226631

出　　处：《农业机械学报》2021年第12期408-416,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51975260);江苏省重点研发计划项目(BE2018372);江苏省自然科学基金项目(BK20181443);镇江市重点研发计划项目(NY2018001);江苏高校优势学科项目(PAPD)。

摘　　要：针对高地隙喷雾机在自主导航作业中因侧滑影响而导致轨迹跟踪精度降低的问题,提出一种基于四轮独立驱动(4WID)高地隙无人喷雾机的自适应控制方法。首先,建立4WID高地隙喷雾机的运动学模型;然后基于运动学几何约束和速度约束,引入两个表征侧滑效应的参数构建改进位姿误差模型;最后将参数自适应与反步控制方法结合,设计自适应控制律实时估计并补偿侧滑效应。以典型的U形作业路径为例,在考虑和不考虑侧滑的情况下分别进行了仿真和试验验证。仿真结果表明:本文提出的控制算法在喷雾机出现侧滑的情况下可以保证较高的轨迹跟踪精度;水田试验表明,当喷雾机在常规作业速度3.6 km/h时,与不考虑侧滑的轨迹跟踪控制算法相比,喷雾机轨迹跟踪的横向平均绝对误差减小至0.041 m,标准差减小至0.059 m;纵向平均绝对误差减小至0.018 m,标准差减小至0.015 m;航向平均绝对误差减小至2.56°,标准差减小至3.57°。Aiming at the problem that track tracking accuracy of high clearance unmanned sprayer is reduced due to side slip during autonomous navigation,an adaptive control method based on four wheel independent drive(4 WID)high clearance unmanned sprayer was proposed.Firstly,the kinematic model of 4 WID high gap sprayer was established.Then,based on the kinematic geometric constraints and velocity constraints,two characterization parameters of side slip effect were introduced to construct the improved pose error model.Finally,combining parameter adaptation with backstepping control method,an adaptive control law was designed to estimate and compensate the unknown sideslip effect at the same time.Taking the typical U-shaped path of paddy field operation as an example,the simulation and experimental verification were carried out with and without sideslip respectively.The simulation results showed that the control algorithm can ensure high tracking accuracy when the sprayer was sideslip.The paddy field test showed that when the sprayer was operating at a normal speed of 3.6 km/h,it was compared with the trajectory tracking control algorithm without sideslip.The absolute value of the lateral mean error of the track tracking was reduced to 0.041 m and the standard error was reduced to 0.059 m,the longitudinal mean absolute error was reduced to 0.018 m and the standard error was reduced to 0.015 m,the average absolute error of heading was reduced to 2.56°and the standard error was reduced to 3.57°.

关 键 词：高地隙无人喷雾机 四轮独立驱动 轨迹跟踪 自适应控制 

分 类 号：S49[农业科学—植物保护]